JPH09193224A - Control method and device for injection molding machine - Google Patents

Abstract

(57) Abstract: A method for controlling an injection molding machine by an optimal control algorithm for each individual mold and an injection molding apparatus using this method are provided. SOLUTION: The detection data such as speed, position, pressure, etc. detected by the operation of the injection molding machine controlled by an arbitrary control algorithm and control parameters is provided with an evaluation means for evaluating the performance of a control algorithm of the injection molding machine. First, we evaluate the control using a combination of arbitrary control algorithms and control parameters. As a result, the control algorithm and control parameters that are determined to be appropriate are selected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an injection molding machine for molding a resin, and particularly to evaluate a control algorithm for controlling speed, pressure, etc., and control parameters such as control variables and control constants in the algorithm, The present invention relates to an injection molding machine having a function of calculating an optimum value.

[0002]

2. Description of the Related Art In injection molding, a high temperature molten resin is injected and filled in a low temperature mold, so that the resin is cooled during the filling, the viscosity is increased and the fluidity is lowered, and the molten resin is not filled in the mold. If short shots that do not completely fill are likely to occur, and if the resin temperature decreases, the transferability of the resin that contacts the mold surface to the mold deteriorates. It is necessary to operate faithfully.

In the injection molding machine, the set values for the injection speed control and the pressure control are generally set in multiple stages as shown in FIG. 2, and this set profile is used with the shape of the molded product to be molded. Various changes are required depending on the type of resin.

Control of speed, pressure and the like in the injection molding machine is, for example, as disclosed in Japanese Patent Publication No. 3-76807, PID control using a control CPU or advanced PID control improved from this. It has been attempted to realize high responsiveness to a step response, stability to quickly settle to a set value, and control to eliminate a deviation from the set value.

However, in these controls, as disclosed in, for example, Japanese Unexamined Patent Publication No. 5-42577, if the gain is increased to improve the responsiveness, the stability with respect to the set value is not maintained and hunting occurs. There is a problem that the rise response becomes poor when a small gain that easily causes hunting does not occur. Particularly, in an injection molding machine driven by hydraulic pressure, a system often has a large dead time that delays a response at the time of start-up, and it is difficult to set an optimal transfer function or control constant of control.

The set values for the injection speed control and the pressure control need to be variously changed according to the shape of the molded product to be molded and the type of resin used, and the gain value that does not cause hunting is different between rising and falling. There is a tendency to change depending on the difference, the size of the change step of the set value in the case of multi-stage setting and the size of the set value itself after shifting, and also the difference in the viscosity of the resin used, and the optimum control The transfer function has an optimum value for each mold used, which makes the setting more difficult.

[0007]

SUMMARY OF THE INVENTION The present invention has been made for the purpose of solving the above problems, and is used for molding individual molded articles at the start of molding. By using a control method that evaluates the control algorithm, finds the optimum control algorithm, and makes it possible for the device to set itself, and control the injection molding machine with the optimum control algorithm for each mold. It is intended to provide an injection molding machine.

[0008]

In order to achieve the above object, a control method for an injection molding machine according to claim 1 is
An injection molding machine that performs control using a control profile that includes a control target provided for each of a plurality of steps, a control algorithm that controls the operation amount so that the output of the controlled object follows the control target, and its control parameters. In the control method, the process of opening the control loop, performing injection molding according to a predetermined control profile, and identifying the transfer function of the controlled object for each step from the obtained input / output data,
The process of defining the control algorithm of the closed loop control corresponding to the identified transfer function for each step, and for each step, set the identified transfer function, control target, defined control algorithm, and control parameters, The method is characterized by including a process of simulating a control response and a process of adjusting the control parameter in each step according to the result of the simulation.

The control method of the injection molding machine according to claim 2 is:
The process of obtaining the measured profile of the output of the controlled object by closing the control loop using the control target, the control algorithm, and the control parameters through the simulation, and the control of each step according to the result of the measured profile. And a step of re-adjusting the parameter.

According to another aspect of the injection molding machine of the present invention, holding means for holding a control profile that indicates a target speed or pressure stepwise in the control of the injection molding machine, and an actual control device based on the target speed or pressure. First storage means for storing a control algorithm determined based on a transfer function of a controlled object for controlling so as to suppress displacement of velocity or pressure, and second storage means for storing a control parameter used in the control algorithm. In the injection molding machine, the storage means and the control means for controlling the speed or pressure in the injection molding by the closed loop control by using the control profile, the control algorithm, and the control parameters, by any control algorithm and control parameters. Velocity, position, pressure, etc. detected by controlled injection molding machine operation Based on the detection data, characterized in that it comprises an evaluation unit, which evaluates the control using the combination of the optional control algorithm and the control parameter.

According to another aspect of the injection molding machine of the present invention, a control profile including a control target provided for each of a plurality of steps, a control algorithm for controlling the operation amount so that the output of the controlled object follows the control target, and the control algorithm thereof. In the injection molding machine that performs control using the control parameters, calculate appropriate values of the control parameters in the above control algorithm for control targets such as detected speed or pressure overshoot, hunting, settling time, rise time, etc. It is characterized by comprising:

An injection molding machine according to a fifth aspect of the present invention includes a control profile including a control target provided for each of a plurality of steps, a control algorithm for controlling an operation amount so that an output of a controlled object follows the control target, and a control algorithm thereof. Control parameter, in an injection molding machine that performs control using, comprises evaluation means for evaluating the performance of the control algorithm and control parameters, the evaluation means, means for storing the control algorithm of the evaluation target to be set, Means for storing the transfer function of the set control object, means for storing the set control target, means for storing the control parameter to be set for the evaluation, the set control algorithm, and the transfer A simulation means for performing a simulation using a function, the control target, and the control parameter; Based on tio down results, characterized by comprising calculating means for calculating the value of the appropriate control parameters, the.

According to another aspect of the injection molding machine of the present invention, a control profile including a control target provided for each of a plurality of steps, a control algorithm for controlling an operation amount so that an output of a controlled object follows the control target, and a control algorithm thereof. A control parameter, in an injection molding machine that performs control using, comprises an evaluation means for evaluating the performance of the control algorithm and the control parameter, the evaluation means opens the control loop, and performs injection molding according to a predetermined control profile. Doing, means for identifying the transfer function of the controlled object for each step from the obtained input and output data, means for determining the control algorithm of the closed loop control corresponding to the identified transfer function for each step, and for each step, Set the identified transfer function, control objective, defined control algorithm, and control parameters to control response Means for performing a simulation, characterized in that it comprises a means for adjusting said control parameter in each step according to the result of the simulation.

An injection molding machine according to claim 8 is characterized in that the evaluated control algorithm, the evaluated or calculated control parameters are set in the injection molding machine and used for controlling the injection and the processes related thereto. Is characterized by.

An injection molding machine according to a ninth aspect is characterized in that the evaluation means is constituted by a personal computer system.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an embodiment in which a control device for an injection molding machine according to the present invention is applied to injection speed control and pressure control of a hydraulic injection molding machine.

In FIG. 1, the hydraulic injection molding machine includes an injection cylinder 1 which contains a molten resin measured in an amount necessary for molding, and an injection plunger 3 which is a screw inserted into the injection cylinder 1 so as to be able to advance and retract. And a hydraulic cylinder device 5 for driving the injection plunger 3 forward and backward, and the molten resin is injected from the nozzle 7 into the mold 9 as the injection plunger 3 advances.

Further, a metering hydraulic motor 12 is connected behind the injection plunger 3, and after injection, the screw is rotated to feed the kneaded molten resin to the tip of the screw, and at the same time the injection plunger 3 is retracted by the molten resin pressure. , Perform weighing operation.

The hydraulic cylinder device 5 is supplied with pressure oil sent from a hydraulic pressure source 11 and having its pressure controlled by a pressure control valve 13 while its flow rate is being measured by a flow rate control valve 15.

In this case, the forward speed of the injection plunger 3 is determined by the amount of pressure oil supplied to the hydraulic cylinder device 5, and the flow control valve 15 controls the flow rate of the pressure oil to excite the electromagnetic switching valve 16b to inject the injection plunger 3. The forward speed of is controlled.

The injection speed or injection pressure control unit 17 includes a forward drive force detector 19 for detecting the forward drive force of the injection plunger 3 by the hydraulic pressure of the hydraulic cylinder device 5, and a position for detecting the moving position of the injection plunger 3. The detector 21 is connected.

In the metering operation, the electromagnetic switching valve 14b is excited to supply the flow rate while being metered by the flow rate control valve 15, and the electromagnetic switching valves 16b and 20b are excited to control the pressure controlled by the pressure control valve 18. Oil is returned to the tank. As the screw rotates in this way, it receives back pressure and retracts.

Injection speed or injection pressure control device 17
Is a setting unit 17a that sets a control profile of speed or pressure, a first storage unit 17b that stores a control algorithm for each step that performs control for eliminating deviation with respect to a set value of speed or pressure, and the above control. A second storage unit 17c that stores control data (control parameters) for each step, which is used for controlling the algorithm, and a calculation unit 17d that performs a calculation process such as executing the algorithm of the control program and outputting a manipulated variable. With. The first storage unit 17b and the second storage unit 17c can also be realized as separate storage areas in the same memory.

The output programmed in accordance with a predetermined control profile for the injection speed or the injection pressure set in the profile setting section 17a is the first storage section 17
It is corrected by b and the control algorithm and control data stored in the 2nd memory | storage part 17c, and is supplied to the pressure control valve 13 and the flow control valve 15 as two operation amount, respectively. This controls the forward speed or forward drive force of the injection plunger.

The basic control function of the controller 17 is that the deviation between the command signal sent from the control profile setting section 17a and the detection signal sent momentarily from the molding machine is stored in the first storage section 17b. This is corrected by a control algorithm that is used, and always tries to make the operation of the molding machine match the set value. The control function of the control device 17 has some variations as described later.

The open loop / closed loop switch 23 receives a setting signal from the setting section 17a for setting the control profile and a correction signal according to the control algorithm stored in the first storage section 17b and the second storage section 17c. Switch
It is sent to the flow control valve 15 or the pressure control valve 13. The switch 23 is used when collecting measurement data of control response characteristics in an open loop at the time of identifying a transfer function of a control target described later.

The evaluation unit 25 evaluates the function of the control algorithm, and is connected to the injection speed or injection pressure control unit 17 via a bus. The evaluation unit 25 includes a memory 25d,
It is realized by a computer system including an arithmetic unit 25e and the like, and includes a transfer function identifying unit 25a, a unit 25b for calculating an appropriate value of a control parameter, and a simulation unit 25c. An external storage device is connected to the evaluation unit 25, and a database 26 is formed therein. The database 26 stores a control profile, a control algorithm, a library of control parameters (control data such as control variables and control constants), quality control data, and the like.

FIG. 8 shows an example of a database (table) for one or more control algorithms prepared for each molded product (mold) held in the database 26. The control algorithm set for each step and the evaluation of each step with respect to the functional targets such as short shot, resin temperature, etc. are stored. In the figure, for convenience of explanation, the evaluations are shown as “◯”, “x”, and “Δ”, but they can be digitized and displayed quantitatively. Stock as many molding conditions as possible to obtain a good product, and update the database. For example, when a mold is set as an injection molding machine, a set of control algorithms (T1
~ T4) from the database to the storage unit 25d of the evaluation unit 25
Alternatively, it is set in the storage unit 17b.

As will be described later, the evaluation unit 25 compares the set value of the control profile set by the simulation or the setting unit 17a with the detection signal (measurement data) from the injection molding machine, and the control algorithm, Evaluate control functions (performance) such as control parameters. The detection signal to be compared is, for example, a speed calculated from the detection value of the forward drive force detector 19 of the injection plunger 3 or the change of the signal of the position detector 21 that detects the moving position of the injection plunger 3 per unit time. It is a signal.

The evaluation function, which is one of the functions of the evaluation unit 25, gives judgment reference values to means for setting evaluation elements such as overshoot, hunting, settling time, rise time, etc. The appropriateness of the detected value from or the calculated value by simulation is determined.

An example of evaluation by the evaluation unit 25 will be described with reference to FIG. First, as shown in FIG.
A control profile, which is a multi-step control target value for the injection speed or the injection pressure, is set in the setting unit 17a, and is shown by steps 1 to 4. The detected value (response value) V1 ′ sampled with respect to the target value V1 in step 1 responds as indicated by the dotted line in the figure. Similarly, the detected values V2 'to V4' follow the target values V2 to V4 in steps 2 to 4 as shown by the dotted lines in the figure. At each step, the control algorithm and the control parameters for generating the correction data for suppressing the deviation from the control target and the result of the response are evaluated. As described above, the factors of evaluation include overshoot, hunting, settling time, rising time and the like.

FIG. 9 shows an example of evaluation of the control algorithm. The evaluation unit obtains a response profile based on a set of control algorithms and control parameters set in the storage unit 25d based on actual measurement data of simulation and molding described later.

As described above, the control algorithm to be initially set can be read from the database and set corresponding to each mold. For example, the control parameters of each step are tuned according to the simulation result so that the functional target for overshooting, hunting, etc. is satisfied for each step. For example,
If a satisfactory evaluation cannot be obtained by adjusting the control parameters as in step 3, the control algorithm T3 is changed to T3.
Change to '. Replace the control algorithm with T3 'and change the overall control parameter or control algorithm to T3
'The control parameter tuning is repeated as appropriate. Find a set of control algorithms and control parameters that satisfy the evaluation of each step. The control algorithm can be expressed, for example, as a plurality of block diagrams showing a control relationship by PID combination. The control parameter is, for example, a factor such as a gain / transfer function, a shape of a molded product, a resin type, a resin viscosity, etc., and is obtained as an optimum control variable or control constant under an appropriate control algorithm.

Some steps may have little influence on the quality of the molded product. In such a case,
The evaluation standard of the step can be lowered. By performing a simulation in advance to set the control algorithm and control parameters, it can be expected to reduce the loss of the molded product. Furthermore, the evaluation of the control algorithm and the control parameter based on the actual measurement result can be similarly performed. The evaluated control algorithm and set of control parameters are recorded in a database or used to modify the mold data.

As a result of the evaluation, if the control algorithm determined to be appropriate is different from the one currently set in the control unit 17, the evaluation unit 25 sets a new control algorithm in the first storage unit 17b. Set to. If the control data determined to be appropriate is different from the data currently set in the control unit 17, the evaluation unit 25 sets new control data in the second storage unit 17c. If the control algorithm and the control data determined to be appropriate are different from those set in the control unit 17, new control algorithm and control data are stored in the storage unit 17b.
And 17c to change both.

Since the evaluation unit 25 can be provided with a function of judging the suitability for the target value for each step set value of the control profile, a different control algorithm and a different control algorithm are provided for each step set value of the control profile. It is possible to give a control parameter and / or give a control parameter to perform control more suitable to the characteristics of the control system. The evaluation unit 25 can be formed integrally with the control unit 17, and
It is also possible to realize the evaluation unit 25 via a bus connection using a system using a low-cost general-purpose microprocessor, for example, a so-called personal computer system.

3 and 4 are flow charts for explaining an example of the operation of the control unit 17 and the evaluation unit 25 related to the start-up of the injection molding machine after the mold replacement and the like.

First, according to an operator's instruction, a control program for controlling the entire apparatus (not shown) is executed. For example, the control profile corresponding to the mold set from the database 26 is set in the profile setting unit 17a (S302). The loop switch 23 is set to open loop (S304). 1 cycle molding,
A series of measurement data is obtained from the outputs of the detectors 19 and 21, and an actual measurement profile is obtained. This measurement data is sent to the storage unit 25d of the evaluation unit 25 (S306).

The evaluation unit 25 identifies the transfer function of the controlled object for each step of the control profile (S30).
8). A closed loop control algorithm adapted to the identified transfer function for each step is set in the storage unit 25d (S
310). The control target is set in the storage unit 25d (S31
2). The storage unit 25d stores the control parameter according to the control target.
(S314). The simulation is executed using the set control target, control algorithm, and control parameter (S316). The control target and the simulation result are compared and evaluated (S318). If the result is inappropriate (S320), the control parameter related to the control target determined to be inappropriate is adjusted (S322). Steps S316 to S322 are repeated to tune the control parameters. If an appropriate evaluation result is obtained (S3
20), The control algorithm and control parameter for each step obtained by the above identification and simulation are set in the storage units 17b and 17c of the control unit 17, respectively (S32).
4).

The loop switch 23 is set to the closed loop (S326). The control unit 17 performs molding for one cycle and obtains a measured profile. This measurement data is sent to the evaluation unit 25 (S328). The measured profile is evaluated (S330). If inappropriate (S33
2), the storage unit 17 related to the control target determined to be inappropriate
The control parameter of c is adjusted (S334). By repeating steps S328 to S334, the control parameters are tuned. If the actually measured profile is appropriate, the tuning is terminated and the continuous molding (not shown) is started.

FIG. 5 is a flow chart for explaining another operation example in the control section 17 and the evaluation section 25. In this example, the control algorithm and the control parameters are evaluated by omitting the preliminary simulation in the first embodiment.

First, an appropriate control profile is set in the setting section 17a in response to die replacement or the like (S50).
2). The loop switch 23 is set to "open" (S50).
4). The control algorithm and control parameters are evaluated by the evaluation unit 25.
To the storage units 17b and 17c via the bus connection,
It is set (S506). Molded for one cycle to obtain a molded product, and the measured profile is taken into the storage unit 25d of the evaluation unit 25 by the detection outputs of the sensors 19 and 21 (S50).
8). In the evaluation unit 25, the profile setting unit 17a
The control profile set in step S1 is compared with the actual measurement profile corrected by the control algorithm stored in the storage unit 17b and the control parameter stored in the storage unit 17c for evaluation (S510). If it is determined as inappropriate as a result of the evaluation (S512), a different control algorithm and control parameter are output from the evaluation unit 25,
The values are set in the storage units 17b and 17c, respectively (S514).
Open the loop switch 23 according to the quality of the molded product.
Alternatively, a "closed" loop is set (S516). Injection molding is repeated again to obtain a molded product, and an actual measurement profile is obtained. The set control profile and measured profile are compared to evaluate whether the control algorithm and control data are appropriate (S508 to S512).

When the evaluation is judged to be appropriate, the switch 23 is closed to form a control loop (S518). Then, the process shifts to a molding process by a continuous cycle not shown.

It is possible to update (correct) the set control profile by comparing and calculating the control profile of the setting unit 17a and the actually measured profile in the calculation unit 17d for each cycle by the control algorithm. When the difference between the updated control profile and the actual measurement profile falls within the allowable range, the data comparison calculation in the calculation unit 17d is stopped, and continuous molding is repeated with the tuned control profile, control algorithm, and control parameter. You can also

FIG. 6 is a flow chart for explaining another embodiment of the control unit 17 and the evaluation unit 25. In this example, a transfer function to be controlled is identified, and appropriate values of control parameters such as control variables and control constants for a control algorithm corresponding to the transfer function are calculated based on the identified transfer function.

First, the control section opens the loop switch 23 so that the instruction based on the setting profile is output as the manipulated variable (S602). A speed or pressure control profile is set in the setting unit 17a (S6).
04). Molding is performed for one cycle, and the control data of each step of the control profile is collected in the storage unit 17e. The collected data and setting values of each step are evaluated by the evaluation unit 2.
No. 5 is sent (S606). The evaluation unit 25 identifies the transfer function of the controlled object for each step using the input / output data, the function model, and the like. For identification of the transfer function, it is possible to use an identification method in so-called modern control theory (S608). Using the identified transfer function for each step, the closed loop control algorithm of each step and the appropriate value of the control parameter are calculated (S610). A target value (setting value), a control algorithm, and a control parameter are set in the setting unit 17a, the storage unit 17b, and the storage unit 17c for each step of the control profile (S612). The switch 23 is set to the “closed” loop, and the control moves to the closed loop control (S614).

FIG. 7 is a flow chart for explaining the simulation function in the evaluation section 25. Evaluation unit 2
When the simulation mode is instructed, 5 sets the control algorithm to be evaluated in the first area of the storage unit 25d (S702). The transfer function of the controlled object obtained by the identification is set in the second area of the storage unit 25d (S704). The control target is set in the third area of the storage unit 25d (S706). The control parameter to be evaluated is set in the storage unit 25d (S708). A target value, a correction value, etc. are given to the model (transfer function), the output of the model is traced, and simulation is performed (S710). It is determined whether the simulation result is appropriate (S712). If it is not appropriate, an appropriate value of the control parameter is calculated by referring to the simulation result (S714). The calculated control parameter is reset and the simulation is performed again (S708, S710). Steps S708 to S714 are repeated until appropriate control parameters are obtained. When it is determined that the control parameters are appropriate, the simulation ends.

The control algorithm and the control parameters determined to be appropriate are stored in the storage unit 17b and the control unit 17 of the control unit, for example.
It is set to c and is stored in the database 26 as needed.

In FIG. 1, the same applies to the screw rotation speed (rotation speed) and screw back pressure related to the degree of kneading and homogenization of the molten resin, such as color unevenness, which is an evaluation item of the molded product (mold). The control algorithm and the control parameters are set in the storage units 17b and 17c of the control unit. Furthermore, even in a mold clamping device equipped with a molded product extrusion mechanism (not shown), cracks, burrs, etc., which are evaluation items of molded products (molds), along with pressure control valves and flow control valves, drive force detectors and positions. A detector is provided, and the control algorithm and control parameters of extrusion pressure / extrusion speed, mold opening / closing pressure / mold opening / closing speed are similarly possible.

Further, not only the hydraulic injection molding machine shown in FIG. 1 but also the electric injection molding machine can carry out completely the same control.

Further, the evaluation section (apparatus) can be constituted by a personal computer, and in such a case, the evaluation system can be constructed relatively inexpensively. However, the evaluation unit is not limited to the personal computer, and the evaluation unit can be realized in the computer system of the control unit. Of course, it is also possible to share and implement the evaluation unit by a plurality of computer systems that may include a personal computer. Therefore, the locations of the respective units described as constituting the evaluation unit can be appropriately arranged, and are not limited to FIG. 1 represented for convenience of description.

[0052]

As can be understood from the above description, the injection molding machine control method and apparatus according to claims 1 and 6 have a simulation function, and have a newly set control algorithm. Since the simulation for the set functional target is performed and the proper value of the control parameter for the newly set control algorithm is calculated, a more appropriate control algorithm and its control parameter can be clearly evaluated.

In the method described in claim 2, since the control parameters are further tuned based on the actually measured profile, it is possible to set more appropriate control parameters, which is preferable.

According to another aspect of the injection molding machine of the present invention, the evaluation means uses the detection data such as speed, position and pressure detected by the operation of the injection molding machine controlled by an arbitrary control algorithm and control parameters. In addition, since the control evaluation is performed using a combination of an arbitrary control algorithm and control parameters, it is possible to clearly evaluate the set control algorithm and the suitability of the control parameter.

In the injection molding machine according to the fourth aspect, the evaluation means calculates appropriate values of the control parameters for the control algorithm with respect to the target functions such as overshoot, hunting, settling time, and rising time. Appropriate values of control parameters for the set control algorithm can be clearly evaluated.

In the injection molding machine according to the fifth aspect, it is preferable that the evaluation means performs a simulation on the control algorithm and the control parameter and calculates an appropriate value for the control parameter based on the evaluation of the simulation result.

In the injection molding machine shown in claim 7, after setting the control profile of speed control or pressure control,
The control loop is opened, molding is performed, and from the data collected for each step setting value in the control profile, the transfer function of the controlled object corresponding to each step setting value of the control profile is identified, and the corresponding closed loop control algorithm Is calculated, and the control system shifts to closed loop control using the control algorithm group and / or the control parameter group, even if the characteristics of the control system differ for each step set value in the control profile. Appropriate control can be performed according to the characteristics.

In the injection molding machine according to the eighth aspect, since the control algorithm and the control parameters which are evaluated or calculated as appropriate values are set in the control section, the molding can be performed under appropriate conditions from the start of the molding. It is preferable because it is possible.

In the injection molding machine according to the ninth aspect, since the evaluation section is composed of the personal computer, the evaluation system can be constructed at low cost, which is preferable.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing a configuration of the present invention.

FIG. 2 is a diagram illustrating a relationship between a control target of a control profile and an actual response.

FIG. 3 is an explanatory diagram showing an example of evaluation by an evaluation unit.

FIG. 4 is an explanatory diagram illustrating an example of evaluation by an evaluation unit.

FIG. 5 is a flowchart illustrating an example of evaluation by an evaluation unit.

FIG. 6 is a flowchart showing an example of calculating an appropriate value of a control parameter in an evaluation unit.

FIG. 7 is a flowchart illustrating a simulation operation in the evaluation unit.

FIG. 8 is an explanatory diagram illustrating contents of a database.

FIG. 9 is an explanatory diagram illustrating an example of evaluation of a control algorithm and control parameters in each step.

[Explanation of symbols]

 1 Injection Cylinder 3 Injection Plunger 5 Hydraulic Cylinder Device 7 Nozzle 9 Mold 11 Hydraulic Source 12 Measuring Hydraulic Motor 13 Pressure Control Valve 14 Electromagnetic Switching Valve 15 Flow Control Valve 16 Electromagnetic Switching Valve 17 Control Section 17a Setting Section 17b First Memory Part 17c Second storage unit 19 Forward drive detector 20 Electromagnetic switching valve 21 Position detector 23 Loop switching device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Junji Oda, Komukai-shi, Kawasaki-shi, Kanagawa 1 Komatsu Toshiba-cho 1 Stock Company, Toshiba Research and Development Center (72) Inventor Masataka Shige, Ko-ku, Kawasaki-shi, Kanagawa Mukai Toshiba Town 1 Stock Company Toshiba Research and Development Center

Claims (9)

[Claims] 1. A control using a control profile including a control target provided for each of a plurality of steps, a control algorithm for controlling an operation amount so that an output of a controlled object follows the control target, and a control parameter thereof. A method of controlling an injection molding machine that performs the following steps: opening a control loop, performing injection molding according to a predetermined control profile, and identifying the transfer function of the controlled object at each step from the obtained input / output data; The process of defining the control algorithm for closed loop control corresponding to the specified transfer function at each step, and setting the identified transfer function, control target, defined control algorithm, and control parameter at each step A process of performing a response simulation, and the control parameter in each step according to the result of the simulation. A method for controlling an injection molding machine, comprising: 2. A process of obtaining a measured profile of the output of a controlled object by performing injection molding by closing a control loop using a control target, a control algorithm, and a control parameter that have undergone the simulation, and in accordance with the result of the measured profile. The method of controlling an injection molding machine according to claim 1, further comprising a step of readjusting the control parameter in each step. 3. Holding means for holding a control profile that represents a target speed or pressure stepwise in the control of the injection molding machine, and suppressing the actual speed or pressure displacement from the target speed or pressure. Storage means for storing a control algorithm determined based on a transfer function of a controlled object for controlling the above-mentioned control, and a second storage means for storing a control parameter used in the control algorithm.
And a control means for controlling the speed or pressure in injection molding by closed-loop control using the control profile, the control algorithm, and the control parameters. Based on the detection data such as speed, position and pressure detected by the operation of the injection molding machine controlled by the parameter, an evaluation means for evaluating the control using the combination of the arbitrary control algorithm and the control parameter, An injection molding machine characterized by comprising. 4. A control using a control profile consisting of control targets provided for each of a plurality of steps, a control algorithm for controlling the manipulated variable so that the output of the controlled object follows the control target, and its control parameters. An injection molding machine for performing the following, including an evaluation means for calculating appropriate values of control parameters in the control algorithm for control targets such as detected speed or pressure overshoot, hunting, settling time, rise time, etc. An injection molding machine characterized by that. 5. Control using a control profile consisting of control targets provided for each of a plurality of steps, a control algorithm for controlling the manipulated variable so that the output of the controlled object follows the control target, and its control parameters. An injection molding machine for performing, comprising an evaluation means for evaluating the performance of the control algorithm and control parameters, the evaluation means storing means for storing a control algorithm of an evaluation target to be set, and A means for storing a transfer function, a means for storing a control target that is set, a means for storing a control parameter that is an evaluation target that is set, the set control algorithm, the transfer function, the control target, Based on the result of the simulation means and a simulation means for performing a simulation using the control parameter, An injection molding machine comprising: a calculating unit that calculates an appropriate control parameter value. 6. A control using a control profile consisting of a control target provided for each of a plurality of steps, a control algorithm for controlling the manipulated variable so that the output of the controlled object follows the control target, and a control parameter thereof. An injection molding machine for performing, including an evaluation means for evaluating the performance of the control algorithm and control parameters, the evaluation means opens a control loop, performs injection molding according to a predetermined control profile, and obtains input / output. Means for identifying the transfer function of the controlled object for each step from the data, means for defining the control algorithm of the closed loop control corresponding to the identified transfer function for each step, and the transfer function identified for each step, A procedure for setting control targets, defined control algorithms, and control parameters to simulate control responses. An injection molding machine, comprising: a stage; and means for adjusting the control parameter in each step according to a result of the simulation. 7. A control using a control profile consisting of a control target provided for each of a plurality of steps, a control algorithm for controlling the manipulated variable so that the output of the controlled object follows the control target, and its control parameter. And an input / output obtained by performing an injection molding according to a predetermined control profile, the control loop being opened, and the evaluation means being provided with an evaluation means for evaluating the performance of the control algorithm and the control parameters. Using the means to identify the transfer function of the controlled object at each step from the data and the transfer function identified at each step, calculate the appropriate value of the control parameter for the closed-loop control algorithm at each step. An injection molding machine comprising: 8. The method according to claim 3, further comprising means for using an evaluated control algorithm and an evaluated or calculated control parameter for controlling the injection molding machine. The described injection molding machine. 9. The evaluation means is composed of a personal computer.
The injection molding machine according to any one of 1.